Ship launching support system, ship control device, ship launching support method and program

A ship comprising:

• an actuator having a function of generating propulsion power of a ship and a function of generating a moment in the ship,
• a ship control device configured to actuate the actuator,
• a bow azimuth detection unit configured to detect an actual bow azimuth of the ship,
• wherein, the ship control device includes a target bow azimuth setting unit that sets a target bow azimuth of the ship during the launching work of the ship,
• wherein the ship is communicable with an input device that is a terminal device separate from the ship and carried by a launching worker;
• and
• wherein, during launching work of the ship in which the ship is disengaged from a trailer on which the ship is loaded,
• the ship control device first causes the actuator to generate backward propulsion power of the ship, and
• executes feedback control of a bow azimuth of the ship on the basis of a deviation between the actual bow azimuth of the ship moving backwards in actuality and the target bow azimuth that is set to the actual bow azimuth of the ship when the start instruction of launching work of the ship is received by the input device,
• in the case the ship is not able to disengage from the trailer if the actuator only generates the backward propulsion power of the ship, the input device receive an input of an instruction to change the bow azimuth of the ship, the ship control device causes the actuator to generate the counterclockwise or clockwise moment in the ship during which the input device is receiving the instruction to change the bow azimuth of the ship,
• after that, in the case the input device no longer receives the instruction to change the bow azimuth of the ship, the ship control device causes the actuator to generate backward propulsion power of the ship, and executes feedback control of a bow azimuth of the ship on the basis of a deviation between an actual bow azimuth that is a bow azimuth of the ship moving backwards in actuality and a target bow azimuth that is set to the actual bow azimuth of the ship after change the bow azimuth to the counterclockwise or clockwise.

A ship launching support method of supporting launching work of a ship of disengaging the ship from a trailer on which the ship is loaded, the ship comprising an actuator having a function of generating propulsion power of the ship and a function of generating a moment in the ship and a ship control device configured to actuate the actuator, the ship is communicable with an input device that is a terminal device separate from the ship and carried by a launching worker,

• the ship launching support method comprising:
• during the launching work of the ship,
• a backward propulsion power generating step of causing the actuator to generate backward propulsion power of the ship;
• and
• a feedback control step of executing feedback control of a bow azimuth of the ship on the basis of a deviation between an actual bow azimuth of the ship moving backwards in actuality and a target bow azimuth that is set to the actual bow azimuth of the ship when the start instruction of launching work of the ship is received by the input device,
• a bow azimuth detection step of detecting an actual bow azimuth of the ship,
• in the case the ship is not able to disengage from the trailer if the actuator only generates the backward propulsion power of the ship, the input device receive an input of an instruction to change the bow azimuth of the ship, causing the actuator to generate the counterclockwise or clockwise moment in the ship during which the input device is receiving the instruction to change the bow azimuth of the ship,
• after that, in the case the input device no longer receives the instruction to change the bow azimuth of the ship, causing the actuator to generate backward propulsion power of the ship, and executes feedback control of a bow azimuth of the ship on the basis of a deviation between an actual bow azimuth that is a bow azimuth of the ship moving backwards in actuality and a target bow azimuth that is set to the actual bow azimuth of the ship after change the bow azimuth to the counterclockwise or clockwise.

A non-transitory computer-readable storage medium storing a program configured to cause a computer mounted on a ship comprising an actuator having a function of generating propulsion power of the ship and a function of generating a moment in the ship and a ship control device configured to actuate the actuator, the ship is communicable with an input device that is a terminal device separate from the ship and carried by a launching worker, to execute:

• during the launching work of the ship,
• a backward propulsion power generating step of causing the actuator to generate backward propulsion power of the ship;
• and
• a feedback control step of executing feedback control of a bow azimuth of the ship on the basis of a deviation between a target bow azimuth and an actual bow azimuth of the ship,
• during launching work of the ship of disengaging the ship from a trailer on which the ship is loaded,
• a bow azimuth detection step of detecting an actual bow azimuth of the ship moving backwards in actuality and a target bow azimuth that is set to the actual bow azimuth of the ship when the start instruction of launching work of the ship is received by the input device,
• in the case the ship is not able to disengage from the trailer if the actuator only generates the backward propulsion power of the ship, the input device receive an input of an instruction to change the bow azimuth of the ship, causing the actuator to generate the counterclockwise or clockwise moment in the ship during which the input device is receiving the instruction to change the bow azimuth of the ship,
• after that, in the case the input device does not receive the instruction to change the bow azimuth of the ship, causing the actuator to generate backward propulsion power of the ship, and executes feedback control of a bow azimuth of the ship on the basis of a deviation between an actual bow azimuth that is a bow azimuth of the ship moving backwards in actuality and a target bow azimuth that is set to the actual bow azimuth of the ship after change the bow azimuth to the counterclockwise or clockwise.